A*寻路例子

如图，绿方块是起点，红方块终点；蓝方块是水（障碍物）。想像在图的周围加上边界，建立坐标系，x和y分别从1开始，则x取值[1,9]，y取值[1,7]，起点坐标(3,4)，终点坐标(7,4);为简单起见，将坐标以一个整数标记:100 * y + x.
[img]http://metaphy.iteye.com/upload/picture/pic/8102/adb2c6ed-9abb-3e4d-ad8d-e8ca4af592da.jpg[/img]

路径搜寻过程中，有一点与参考文章不同的是，障碍物的角被认为是可穿过的，只要穿过之后的坐标不是障碍物或边界。

参阅：http://www.cppblog.com/christanxw/archive/2006/04/07/5126.html
英文原文：http://www.gamedev.net/reference/articles/article2003.asp

/**
 * Author by metaphy
 * Date Feb 20, 2008
 */
package astar;

import java.util.ArrayList;

public class Coordinate {
	private int x;
	private int y;
	private int value;
	private Coordinate parent;

	public Coordinate(){}
	public Coordinate(int x, int y) {
		this.x = x;
		this.y = y;
		this.value = 100 * y + x;
	}
	public Coordinate(int value) {
		this.x = value % 100;
		this.y = value / 100;
		this.value = value;
	}

	public int getX() {
		return x;
	}
	public int getY() {
		return y;
	}
	public int getValue() {
		return value;
	}

	public Coordinate getParent() {
		return parent;
	}
	public void setParent(Coordinate parent) {
		this.parent = parent;
	}
	/**
	 * Whether or not it's border
	 * @return
	 */
	public boolean isBorder(){
		return x == 1 || x == 9 || y ==1 || y== 7 ;
	}
	/**
	 * Whether or not it's barrier
	 * @return
	 */
	public boolean isWater(){
		return value == 305
			|| value == 306
			|| value == 405
			|| value == 504
			|| value == 505
		;
	}
	/**
	 * @param xx
	 * @param yy
	 * @return
	 */
	public boolean valid(int xx, int yy){
		return xx >=1 && xx<=9 && yy >=1 && yy<=7;
	}

	/**
	 * Get valid adjacent coordinate list
	 * @return
	 */
	public ArrayList<Coordinate> getValidAdjacent(){
		ArrayList<Coordinate> list = new ArrayList<Coordinate>();
		for (int t = -1; t<= 1; t ++){
			for (int p = -1; p<= 1; p++){
				if (valid(x + t,y + p)){
					Coordinate c = new Coordinate (x+t, y+p);
					if (!c.isBorder() && !c.isWater()){
						list.add(c);
					}
				}
			}
		}
		return list;
	}
	/**
	 * The G function 
	 * @param c
	 * @return
	 */
	public int getCostG(){
		if (parent != null){
			if (Math.abs(parent.getX () -x)==1 && Math.abs(parent.getY() - y )==1){
				return 14;
			}else {
				return 10;
			}
		}else {
			return 0 ;
		}
	}
	public int getCostG(Coordinate c){
		if (Math.abs(c.getX () -x)==1 && Math.abs(c.getY() - y )==1){
			return 14;
		}else if (c.getX() == x && Math.abs(c.getY()-y) == 1|| c.getY() ==y && Math.abs(c.getX() -x) ==1){
			return 10;
		}else {
			return Integer.MAX_VALUE;
		}
	}
	/**
	 * The H function 
	 * @param c
	 * @return
	 */
	public int getDistanceH(Coordinate c){
		return (Math.abs(c.getX() - x) + Math.abs(c.getY() - y)) * 10;
	}
	/**
	 * The F function
	 * @param c
	 * @return
	 */
	public int getF(Coordinate c){
		return getCostG() + getDistanceH(c);
	}
}	

/**
 * Author by metaphy
 * Date Feb 20, 2008
 */
package astar;

import java.util.ArrayList;

public class AStarSample {
	private ArrayList<Coordinate> openList = new ArrayList<Coordinate>();
	private ArrayList<Coordinate> closeList = new ArrayList<Coordinate>();
	private Coordinate start = new Coordinate(403);
	private Coordinate end = new Coordinate(407);
	/**
	 * Try to find the path
	 * @return
	 */
	public boolean pathFinding(){
		Coordinate current = null;
		openList.add(start);
		do{
			current = lookForMinF();
			openList.remove(current);
			closeList.add(current);
			ArrayList<Coordinate> list = current.getValidAdjacent();
			for (Coordinate adjacent:list){
				if (!inClosedList(adjacent)){
					if (!inOpenedList(adjacent)){
						adjacent.setParent(current);
						openList.add(adjacent);
					}else{
						int g0 = current.getParent().getCostG(adjacent);
						int g1 = current.getCostG() + current.getCostG(adjacent);
						if (g1 < g0){
							adjacent.setParent(current);
						}
					}
				}
			}
		} while(!findTarget() && openList.size()>0);
		end.setParent(current);

		if (findTarget()){
			Coordinate tmp = end;
			while (tmp.getValue() != start.getValue()){
				System.out.println(tmp.getValue());
				tmp = tmp.getParent();
			}
			System.out.println(start.getValue());
			return true;
		}else{
			System.out.println("Can't find the path.");
			return false;
		}
	}
	/**
	 * Look for the min F value coordinate from open list 
	 * @return
	 */
	private Coordinate lookForMinF(){
		Coordinate c = openList.get(0);
		for (Coordinate tmp :openList){
			if (tmp.getF(end) < c.getF(end)){
				c = tmp ;
			}
		}
		return c;
	}
	/**
	 * Find the target or not
	 * @return
	 */
	private boolean findTarget(){
		for (Coordinate open: openList){
			if (open.getValue() == end.getValue())
				return true;
		}
		return false;
	}
	private boolean inClosedList(Coordinate c){
		for (Coordinate close: closeList){
			if (close.getValue() == c.getValue())
				return true;
		}
		return false;
	}
	private boolean inOpenedList (Coordinate c){
		for (Coordinate open: openList){
			if (open.getValue() == c.getValue())
				return true;
		}
		return false;
	}
	public static void main(String[] args) {
		new AStarSample().pathFinding();
	}
}